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Continue development, plus add Blinky build configuration.

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This commit is contained in:
Richard Barry 2010-08-22 11:45:24 +00:00
parent cfc3911721
commit 4b8e4c7520
12 changed files with 466 additions and 72 deletions
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116
Demo/RX600_RX62N-MDK_Renesas/RTOSDemo/main-full.c
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@ -51,15 +51,66 @@
licensing and training services.
*/
/*
* NOTE 1: The CPU must be in Supervisor mode when the scheduler is started.
/*
* This project includes a lot of tasks and tests and is therefore complex.
* If you would prefer a much simpler project to get started with then select
* the 'Blinky' build configuration within the HEW IDE.
*
* Creates all the demo application tasks, then starts the scheduler. The WEB
* documentation provides more details of the standard demo application tasks,
* which provide no particular functionality but do provide a good example of
* how to use the FreeRTOS API. The tasks defined in flop.c are included in the
* set of standard demo tasks to ensure the floating point unit gets some
* exercise.
*
* In addition to the standard demo tasks, the following tasks and tests are
* defined and/or created within this file:
*
* "Reg test" tasks - These fill the registers with known values, then check
* that each register still contains its expected value. Each task uses
* different values. The tasks run with very low priority so get preempted very
* frequently. A register containing an unexpected value is indicative of an
* error in the context switching mechanism and will result in interrupts being
* disabled and a branch to a null loop. This has the effect of stopping
* execution of all the tests and tasks, which in turn results in all LED
* activity stopping too. The nature of the reg test tasks necessitates that
* they are written in assembly code. The check task (described below) checks
* that the reg test tasks are still executing and will indicate an error if
* either reg test task is found to have stalled.
*
* "Check" task - This only executes every five seconds but has a high priority
* to ensure it gets processor time. Its main function is to check that all the
* standard demo tasks are still operational. While no errors have been
* discovered the check task will toggle LED 5 every 5 seconds - the toggle
* rate increasing to 200ms being a visual indication that at least one task has
* reported unexpected behaviour.
*
* "High frequency timer test" - A high frequency periodic interrupt is
* generated using a timer - the interrupt is assigned a priority above
* configMAX_SYSCALL_INTERRUPT_PRIORITY so should not be effected by anything
* the kernel is doing. The interrupt service routine measures the number of
* counts a separate timer performs between each interrupt to determine the
* jitter in the interrupt timing.
*
* *NOTE 1* If LED5 is toggling every 5 seconds then all the demo application
* tasks are executing as expected and no errors have been reported in any
* tasks. The toggle rate increasing to 200ms indicates that at least one task
* has reported unexpected behaviour.
*
* *NOTE 2* vApplicationSetupTimerInterrupt() is called by the kernel to let
* the application set up a timer to generate the tick interrupt. In this
* example a compare match timer is used for this purpose.
*
* *NOTE 3* The CPU must be in Supervisor mode when the scheduler is started.
* The PowerON_Reset_PC() supplied in resetprg.c with this demo has
* Change_PSW_PM_to_UserMode() commented out to ensure this is the case.
*
* *NOTE 4* The IntQueue common demo tasks test interrupt nesting and make use
* of all the 8bit timers (as two cascaded 16bit units).
*/
/* Hardware specific includes. */
#include "iodefine.h"
#include "rskrx62ndef.h"
/* Kernel includes. */
#include "FreeRTOS.h"
@ -81,7 +132,7 @@
#include "flop.h"
/* Values that are passed into the reg test tasks using the task parameter. The
tasks then check that the values are passed in correctly. */
tasks check that the values are passed in correctly. */
#define mainREG_TEST_1_PARAMETER ( 0x12121212UL )
#define mainREG_TEST_2_PARAMETER ( 0x12345678UL )
@ -101,16 +152,19 @@ tasks then check that the values are passed in correctly. */
#define mainCHECK_LED ( 5 )
/* The rate at which mainCHECK_LED will toggle when all the tasks are running
without error. */
without error. Controlled by the check task as described at the top of this
file. */
#define mainNO_ERROR_CYCLE_TIME ( 5000 / portTICK_RATE_MS )
/* The rate at which mainCHECK_LED will toggle when an error has been reported
by at least one task. */
by at least one task. Controlled by the check task as described at the top of
this file. */
#define mainERROR_CYCLE_TIME ( 200 / portTICK_RATE_MS )
/* The period of the system clock in nano seconds. This is used to calculate
the jitter time in nano seconds as part of the high frequency timer test. */
#define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( double ) configPERIPHERAL_CLOCK_HZ ) * 1000000000.0 ) )
/* The period of the peripheral clock in nano seconds. This is used to calculate
the jitter time in nano seconds as part of the high frequency timer test. The
clock driving the timer is divided by 8. */
#define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( ( double ) configPERIPHERAL_CLOCK_HZ ) / 8.0 ) * 1000000000.0 ) )
/*
* vApplicationMallocFailedHook() will only be called if
@ -147,11 +201,11 @@ void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName
/*
* The reg test tasks as described at the top of this file.
*/
void vRegTest1Task( void *pvParameters );
void vRegTest2Task( void *pvParameters );
static void prvRegTest1Task( void *pvParameters );
static void prvRegTest2Task( void *pvParameters );
/*
* The actual implementatio of the reg test functionality, which, because of
* The actual implementation of the reg test functionality, which, because of
* the direct register access, have to be in assembly.
*/
static void prvRegTest1Implementation( void );
@ -164,7 +218,8 @@ static void prvCheckTask( void *pvParameters );
/* Variables that are incremented on each iteration of the reg test tasks -
provided the tasks have not reported any errors. The check task inspects these
variables to ensure they are still incrementing as expected. */
variables to ensure they are still incrementing as expected. If a variable
stops incrementing then it is likely that its associate task has stalled. */
unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;
/*-----------------------------------------------------------*/
@ -181,8 +236,8 @@ extern void HardwareSetup( void );
vParTestInitialise();
/* Start the reg test tasks which test the context switching mechanism. */
xTaskCreate( vRegTest1Task, "RegTst1", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_1_PARAMETER, tskIDLE_PRIORITY, NULL );
xTaskCreate( vRegTest2Task, "RegTst2", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
xTaskCreate( prvRegTest1Task, "RegTst1", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_1_PARAMETER, tskIDLE_PRIORITY, NULL );
xTaskCreate( prvRegTest2Task, "RegTst2", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
/* Start the check task as described at the top of this file. */
xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE * 3, NULL, mainCHECK_TASK_PRIORITY, NULL );
@ -221,12 +276,15 @@ static volatile unsigned long ulLastRegTest1CycleCount = 0UL, ulLastRegTest2Cycl
portTickType xNextWakeTime, xCycleFrequency = mainNO_ERROR_CYCLE_TIME;
extern void vSetupHighFrequencyTimer( void );
extern volatile unsigned short usMaxJitter;
static char cTempBuf[ 15 ]; /* To be deleted when debug console is working. */
volatile unsigned long ulActualJitter = 0;
/* If this is being executed then the kernel has been started. Start the high
frequency timer test as described at the top of this file. */
vSetupHighFrequencyTimer();
frequency timer test as described at the top of this file. This is only
included in the optimised build configuration - otherwise it takes up too much
CPU time. */
#ifdef INCLUDE_HIGH_FREQUENCY_TIMER_TEST
vSetupHighFrequencyTimer();
#endif
/* Initialise xNextWakeTime - this only needs to be done once. */
xNextWakeTime = xTaskGetTickCount();
@ -300,20 +358,22 @@ volatile unsigned long ulActualJitter = 0;
ulLastRegTest1CycleCount = ulRegTest1CycleCount;
ulLastRegTest2CycleCount = ulRegTest2CycleCount;
/* Toggle the check LED to give an indication of the system status. If the
LED toggles every 5 seconds then everything is ok. A faster toggle indicates
an error. */
/* Toggle the check LED to give an indication of the system status. If
the LED toggles every 5 seconds then everything is ok. A faster toggle
indicates an error. */
vParTestToggleLED( mainCHECK_LED );
/* Calculate the maximum jitter experienced by the high frequency timer test
and print it out. It is ok to use printf without worrying about mutual
exclusion as it is not used anywhere else in this demo. */
/* Calculate the maximum jitter experienced by the high frequency timer
test and print it out. It is ok to use printf without worrying about
mutual exclusion as it is not used anywhere else in this demo. */
//sprintf( cTempBuf, "%s [%fns]\n", "Max Jitter = ", ( ( float ) usMaxJitter ) * mainNS_PER_CLOCK );
ulActualJitter = ( ( unsigned long ) usMaxJitter ) * mainNS_PER_CLOCK;
}
}
/*-----------------------------------------------------------*/
/* The RX port uses this callback function to configure its tick interrupt.
This allows the application to choose the tick interrupt source. */
void vApplicationSetupTimerInterrupt( void )
{
/* Enable compare match timer 0. */
@ -362,7 +422,8 @@ void vApplicationIdleHook( void )
}
/*-----------------------------------------------------------*/
void vRegTest1Task( void *pvParameters )
/* This function is explained in the comments at the top of this file. */
static void prvRegTest1Task( void *pvParameters )
{
if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_1_PARAMETER )
{
@ -379,7 +440,8 @@ void vRegTest1Task( void *pvParameters )
}
/*-----------------------------------------------------------*/
void vRegTest2Task( void *pvParameters )
/* This function is explained in the comments at the top of this file. */
static void prvRegTest2Task( void *pvParameters )
{
if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_2_PARAMETER )
{
@ -396,6 +458,7 @@ void vRegTest2Task( void *pvParameters )
}
/*-----------------------------------------------------------*/
/* This function is explained in the comments at the top of this file. */
#pragma inline_asm prvRegTest1Implementation
static void prvRegTest1Implementation( void )
{
@ -483,6 +546,7 @@ RegTest1Error:
}
/*-----------------------------------------------------------*/
/* This function is explained in the comments at the top of this file. */
#pragma inline_asm prvRegTest2Implementation
static void prvRegTest2Implementation( void )
{